uint8 grasp_axis
uint8 GRASP_AXIS_X = 0
uint8 GRASP_AXIS_Y = 1
uint8 GRASP_AXIS_Z = 2

uint8 grasp_direction
uint8 GRASP_DIRECTION_UP = 0
uint8 GRASP_DIRECTION_DOWN = 1

uint8 grasp_rotation
uint8 GRASP_ROTATION_HALF = 0
uint8 GRASP_ROTATION_FULL = 1
